How to get lidar_ego_pose0.npy or os2-64_poses.npy in process_kradar.py?

[happiness2b]

Thank you for your inspiring work. While attempting to reproduce your code, I encountered an error during the data preparation phase when running the process_kradar.py script. Specifically, the error indicated that the file lidar_ego_pose0.npy could not be found.

I noticed that lidar_ego_pose0.npy is supposed to be generated from os2-64_poses.npy, but the corresponding generation code has been commented out. However, I was unable to locate either of these two files in the project repository or in the KRadar dataset.

May I ask how these files are generated? Thank you in advance for your help.

[Ericwen2001]

Thank you for your interest in our work. While K-Radar provides ground truth (GT) poses via RTK-GPS, we observed inaccuracies—particularly along the height axis. To address this, we generated LiDAR poses using KISS-ICP with OS2-64 LiDAR data, which was the most accurate odometry method available at the time. However, newer LiDAR odometry or occupancy GT generation methods may now exist for improved results.

[happiness2b]

Thank you for your response. I would like to ask if you plan to release the os2-64_poses.npy data generated by the KISS-ICP algorithm. Making this data available would greatly help other researchers interested in your work to better reproduce your results.

[Ericwen2001]

Sorry for late reply, pose are now provided in the repo pose